y2019/vision/server/server_data.proto

syntax = "proto2";

package y2019.vision;

// Various proto definitions for use with the websocket server for debugging the
// vision code.

// Representation of a 2D pose on the field, generally referenced off of the
// center of the driver's station wall with positive X out towards the field and
// positive Y to the left from the driver's perspective. theta is zero when
// pointed straight along the positive X axis and increases towards positive Y
// (counter-clockwise).
message Pose {
  optional float x = 1;      // meters
  optional float y = 2;      // meters
  optional float theta = 3;  // radians
}

// Debugging information for the line following.
message LineFollowDebug {
  // Pose of the target that we are currently latched onto.
  optional Pose goal_target = 1;
  // Whether we are currently in line following mode and so will freeze the
  // target shortly.
  optional bool frozen = 2;
  // Whether we have chosen a target (otherwise, goal_target may be arbitrary).
  optional bool have_target = 3;
}

// Data for a single camera at a given instance in time (corresponding to a
// camera frame).
message CameraDebug {
  // The time that has passed, in seconds, since we last got a frame with a
  // target in it.
  optional float time_since_last_target = 1;
  // The age of the most recent frame and the one that contains the targets included below.
  optional float current_frame_age = 2;
  // Target Pose is relative to the camera, *not* the field, so (0, 0) is at the
  // camera.
  repeated Pose targets = 3;
}

// Data for the current sensor values.
message Sensors {
  // Superstructure calibrated positions.
  optional float wrist = 1;
  optional float elevator = 2;
  optional float intake = 3;
  optional float stilts = 4;
  optional bool has_piece = 5;
}

// The overall package of data that we send to the webpage.
message DebugData {
  optional Pose robot_pose = 1;
  optional LineFollowDebug line_follow_debug = 2;
  repeated CameraDebug camera_debug = 3;
  optional Sensors sensors = 4;
}